version: 66.11
glider: 187
mission: 2
dive: 283
start: 11 19 112 1 3 17
data:
$ID,187
$MISSION,2
$DIVE,283
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588113.6
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,191112,005559,4729.464,-12601.399,41,2.0,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-75.3
$GPS2,191112,010245,4729.450,-12601.272,10,2.1,29,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,73.2,75822,-13.4,-7.333,-18.42
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,93,0.00,0.00,-74.60,0.000,2,0.000,0.000,112,2190,2732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.48,-146.0,3.2,-3.7,12,132,11.50,2.22,-14.70,0.000,4,0.219,0.062,3031,781,3392,0,0,0,0,0,0,24.93,25.50,26.07
$GC,359,-0.48,-146.0,52.8,-14.0,59,366,0.00,2.22,0.00,0.000,6,0.000,0.050,3023,2202,3394,0,0,0,0,0,0,28.83,25.56,28.83
$GC,675,-0.48,-146.0,98.5,-12.6,120,681,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,998,-0.48,-146.0,134.5,-11.7,167,999,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.48,-146.0,169.7,-11.9,187,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1607,-0.48,-146.0,204.4,-10.8,207,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1907,-0.48,-146.0,235.6,-10.3,222,1912,0.00,2.25,0.00,0.000,4,0.000,0.061,3012,3617,3396,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1949,-0.48,-146.0,239.9,-10.5,224,1954,0.00,2.20,0.00,0.000,6,0.000,0.043,3012,2179,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2262,-0.48,-146.0,275.1,-11.0,240,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.48,-146.0,306.4,-10.0,255,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-0.48,-146.0,335.4,-9.6,270,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3162,-0.48,-146.0,365.3,-9.9,285,3167,0.00,2.30,0.00,0.000,4,0.000,0.063,3002,3609,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3210,-0.48,-146.0,369.3,-10.1,287,3214,0.15,2.17,0.00,0.000,6,0.128,0.044,3045,2192,3395,0,0,0,0,0,0,25.66,25.89,28.83
$GC,3517,-0.48,-146.0,395.6,-8.3,302,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3817,-0.48,-146.0,419.9,-7.9,313,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.48,-146.0,443.0,-7.7,323,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-0.48,-146.0,466.9,-7.8,333,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4717,-0.48,-146.0,489.6,-7.3,343,4723,0.00,2.33,0.00,0.000,4,0.000,0.064,3037,3619,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4747,-0.48,-146.0,491.7,-7.3,344,4753,0.00,2.20,0.00,0.000,6,0.000,0.044,3037,2189,3392,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5078,-0.48,-146.0,515.8,-7.2,355,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2187,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.48,-146.0,536.8,-6.9,365,5383,0.00,2.28,0.00,0.000,4,0.000,0.064,3027,3606,3391,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5409,-0.48,-146.0,539.1,-7.1,366,5414,0.00,2.17,0.00,0.000,6,0.000,0.045,3027,2198,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5732,-0.48,-146.0,563.9,-7.8,377,5737,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3603,3390,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5770,-0.48,-146.0,566.3,-7.9,378,5774,0.00,2.17,0.00,0.000,6,0.000,0.046,3017,2193,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6087,-0.48,-146.0,592.4,-7.8,389,6092,0.00,2.17,0.00,0.000,4,0.000,0.053,3016,792,3390,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6125,-0.48,-146.0,594.8,-7.8,390,6130,0.12,2.20,0.00,0.000,6,0.136,0.053,3043,2200,3390,0,0,0,0,0,0,25.58,25.69,28.83
$GC,6443,-0.48,-146.0,613.4,-5.3,401,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2200,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.48,-146.0,629.1,-5.4,411,6750,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3609,3389,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6804,-0.48,-146.0,632.7,-5.7,413,6809,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2198,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7133,-0.48,-146.0,654.1,-6.8,424,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7433,-0.48,-146.0,675.1,-7.2,434,7439,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3606,3388,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7472,-0.48,-146.0,677.5,-7.3,435,7476,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2200,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7789,-0.48,-146.0,702.5,-7.5,446,7794,0.00,2.17,0.00,0.000,4,0.000,0.054,3024,803,3388,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7822,-0.48,-146.0,704.9,-7.5,447,7826,0.00,2.20,0.00,0.000,6,0.000,0.054,3016,2204,3388,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8144,-0.48,-146.0,730.1,-7.7,458,8150,0.00,2.25,0.00,0.000,4,0.000,0.066,3006,3607,3387,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8217,-0.48,-146.0,734.9,-7.9,460,8222,0.12,2.17,0.00,0.000,6,0.130,0.047,3042,2200,3387,0,0,0,0,0,0,25.64,25.82,28.83
$GC,8531,-0.48,-146.0,756.4,-6.7,471,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,-0.48,-146.0,775.8,-6.4,481,8836,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3605,3387,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8873,-0.48,-146.0,777.8,-6.4,482,8877,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2201,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9186,-0.48,-146.0,800.2,-7.0,493,9191,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3606,3386,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9209,-0.48,-146.0,800.2,-7.0,493,9215,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2198,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9516,-0.48,-146.0,824.8,-7.3,504,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9816,-0.48,-146.0,846.3,-7.1,514,9821,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3606,3385,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9864,-0.48,-146.0,848.6,-7.3,515,9868,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2203,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10170,-0.48,-146.0,874.0,-7.7,525,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10471,-0.48,-146.0,897.8,-8.0,535,10477,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3613,3385,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10493,-0.48,-146.0,897.8,-8.0,535,10501,0.12,2.20,0.00,0.000,6,0.129,0.048,3041,2195,3385,0,0,0,0,0,0,25.60,25.76,28.83
$GC,10801,-0.48,-146.0,921.3,-6.8,546,10806,0.00,2.33,0.00,0.000,4,0.000,0.068,3033,3608,3384,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10831,-0.48,-146.0,923.2,-6.8,547,10837,0.00,2.17,0.00,0.000,6,0.000,0.048,3033,2204,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11161,-0.48,-146.0,947.0,-7.0,558,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2202,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11461,-0.48,-146.0,968.6,-7.2,568,11466,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3608,3383,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11494,-0.48,-146.0,970.9,-7.4,569,11498,0.00,2.20,0.00,0.000,6,0.000,0.049,3023,2194,3384,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,11753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11753,begin apogee
$GC,11760,-0.22,0.0,990.6,-7.4,578,11893,0.28,0.00,128.70,1.177,6,0.111,0.000,3118,2335,2794,0,0,0,0,0,0,25.70,28.83,23.33
$STATE,11897,end apogee,CONTROL_FINISHED_OK
$STATE,11897,begin climb
$GC,11900,0.48,146.0,994.6,0.0,582,12042,0.68,0.00,138.82,1.140,6,0.080,0.000,3346,2335,2198,0,0,0,0,0,0,24.43,28.83,22.41
$GC,12321,0.48,146.0,962.3,9.3,597,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2335,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12621,0.48,146.0,934.0,9.4,607,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2335,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12921,0.48,146.0,905.8,9.3,617,12927,0.00,2.30,0.00,0.000,4,0.000,0.069,3347,3732,2185,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12964,0.48,146.0,902.6,9.6,618,12969,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2327,2184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13276,0.48,146.0,869.2,10.2,629,13282,0.00,2.22,0.00,0.000,4,0.000,0.057,3367,918,2184,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13315,0.48,146.0,866.1,10.1,630,13319,0.00,2.25,0.00,0.000,6,0.000,0.058,3367,2328,2184,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13632,0.48,146.0,832.5,10.5,641,13638,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3735,2183,0,0,0,0,0,0,28.83,25.52,28.83
$GC,13670,0.48,146.0,828.9,10.8,642,13674,0.00,2.22,0.00,0.000,6,0.000,0.050,3376,2325,2182,0,0,0,0,0,0,28.83,25.71,28.83
$GC,13988,0.48,146.0,792.1,11.2,653,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2322,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14287,0.48,146.0,759.0,11.1,663,14293,0.00,2.33,0.00,0.000,4,0.000,0.069,3378,3740,2183,0,0,0,0,0,0,28.83,25.55,28.83
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$STATE,23369,end climb,SURFACE_DEPTH_REACHED
$STATE,23369,begin surface coast
$FINISH,1.1,1.012074
$STATE,23416,end surface coast,CONTROL_FINISHED_OK
$STATE,23416,begin surface
$SM_CCo,23495,0.00,0.000,0,0,1559,302.70
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,22.4,39.887
$10V_AH,10.1,33.139
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.050,193.125,397.550,0.000,0.000,28.604,34.151,193.222,0.250,0.000,31.452,3424.533,16558.480,556.112,2951.145,405.051,0.000,1971.340,0.000,2648.472,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.636,767.581,531.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,73519,1314
$CAP_FILE_SIZE,191356,0
$CFSIZE,260165632,234188800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,275.5,1
$GPS,191112,073650,4729.965,-12559.204,60,2.7,79,18.7